Dynamic Laser Touch-Sensing for Robot Workpiece Positioning
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Solution Overview
Problem
Existing methods for touch-sensing in robotics, such as those described in U.S. Pat. No. 6,452,134 B2, do not support dynamic switching between wire touch-sensing and laser touch-sensing, nor do they accommodate simultaneous laser touch-sensing with multiple robots and a dynamic user frame, which limits the accuracy and efficiency of robotic operations.
Innovation Solution
The technology enables dynamic switching between laser touch-sensing and wire touch-sensing, allowing for the use of multiple robots with both sensors, and updates a user frame by determining offsets from touch-sensing events to optimize tool actions and workpiece positioning, enabling seamless transfer of touch-sensing programs between robot controllers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If wire touch-sensing is used for workpiece positioning, then the method is simple and cost-effective, but it cannot achieve high measurement precision for complex geometries
Solution Approach 1:
The system integrates both wire touch-sensing and laser touch-sensing capabilities into a single robot touch-sensing platform. The wire sensor and laser sensor can be selectively activated based on the workpiece geometry and positioning requirements, allowing the system to function as both a simple contact-based sensor and a sophisticated optical sensor. This multi-functionality resolves the contradiction by enabling high measurement precision for complex geometries using laser sensing while maintaining the option for simpler wire-based methods when appropriate.
Solution Approach 2:
The system implements dynamic switching between wire touch-sensing and laser touch-sensing modes during the positioning process. The control system can transition between sensing modalities based on real-time requirements, such as switching from wire sensing for initial rough positioning to laser sensing for precise feature identification. This dynamic adaptability allows the system to optimize measurement precision for complex geometries without permanently increasing device complexity.
2Measurement precision
If laser touch-sensing is used for high precision positioning, then measurement precision is improved, but the device complexity and cost increase
Solution Approach 1:
The system integrates both wire touch-sensing and laser touch-sensing capabilities into a single robot touch-sensing platform. The wire sensor and laser sensor can be selectively activated based on the workpiece geometry and positioning requirements, allowing the system to function as both a simple contact-based sensor and a sophisticated optical sensor. This multi-functionality resolves the contradiction by enabling high measurement precision for complex geometries using laser sensing while maintaining the option for simpler wire-based methods when appropriate.
Solution Approach 2:
The system applies laser touch-sensing selectively only when high measurement precision is required for complex geometries, rather than using it for all positioning tasks. For simpler workpieces or initial positioning stages, the system uses the simpler and less costly wire touch-sensing method. This partial application of the more complex laser sensing technology optimizes the balance between measurement precision and device complexity.
3Productivity
If multiple robots perform simultaneous laser touch-sensing, then productivity is improved, but coordination complexity and control difficulty increase
Solution Approach 1:
The system divides the touch-sensing task among multiple robots, with each robot responsible for specific regions or features of the workpiece. The workpiece surface is segmented into multiple zones, and each robot performs laser touch-sensing on its assigned zone independently. This segmentation enables simultaneous operation of multiple robots, improving productivity while reducing coordination complexity by localizing each robot's task to a specific spatial domain.
Solution Approach 2:
The system introduces a centralized control system that acts as an intermediary between multiple robots and the workpiece. This intermediary controller coordinates the simultaneous laser touch-sensing operations by managing task allocation, synchronizing operations, and integrating data from multiple robots. The intermediary abstraction layer simplifies the control difficulty by providing a unified interface for managing multi-robot coordination, allowing each robot to operate semi-independently while maintaining system-wide coherence.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for optimized accuracy and efficiency in robotic operations by dynamically updating the user frame based on touch-sensing data, supporting simultaneous and sequential use of multiple robots with laser and wire touch-sensing, and enabling dynamic switching between sensing types, thereby improving the precision of tool actions and workpiece handling.
Implementation Method 1
the robot arm includes a laser touch sensor
Implementation Method 2
laser touch-sensing event
Data Source
AI summary
Methods and systems for touch-sensing to provide an updated user frame are provided. These include the provision of a user frame and the touch-sensing of a workpiece, where the touch-sensing includes performing a touch-sensing schedule. The touch-sensing schedule includes one of a laser touch-sensing event and a wire touch-sensing event, where one of the laser touch-sensing event and the wire touch-sensing event is switched to the other of the laser touch-sensing event and the wire touch-sensing event while performing the touch-sensing schedule. An offset of the workpiece relative to the user frame is determined based on the touch-sensing of the workpiece and the offset is applied to the user frame to provide the updated user frame. The unique dynamic user frame feature enables same touch sensing program to be cloned and applied on multiple robot controllers.